From 97aa2cd09e92f73cd4dff3d99eaef64e748c80b3 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 28 六月 2023 19:04:32 +0800
Subject: [PATCH] 优化出库小车避让
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 59 +++++++++++++++++++----------------------------------------
1 files changed, 19 insertions(+), 40 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 3cecf33..3d831aa 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1086,26 +1086,6 @@
//鏈壘鍒拌矾寰勶紝绛夊緟涓嬩竴娆�
continue;
}
- //鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿侊紝鐢ㄤ簬鍚庣画璁＄畻
- NavigateMapData navigateMapData = new NavigateMapData(currentLev);
- navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿�
-
- //浠诲姟鎵ц瀹屽悗锛屽皬杞﹁繘鍏ョЩ寮�鎻愬崌鏈哄彛绔欑偣浣嶇疆锛屼互鍏嶅潬钀�
- //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
- int distLev = Utils.getLev(liftSiteLocNo);//閬胯妤煎眰
- String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);
- ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
- if (moveAssignCommand == null) {//璋冨害灏忚溅鍛戒护涓虹┖
- continue;
- }
- //鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿侊紝鐢ㄤ簬鍚庣画璁＄畻
- navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿�
- commands.addAll(moveAssignCommand.getCommands());//灏嗛伩璁╁皬杞︾殑鍛戒护娣诲姞
- List<NavigateNode> nodes = assignCommand.getNodes();//灏嗛伩璁╄矾寰勬坊鍔犺繘鑺傜偣璺緞涓�
- nodes.addAll(moveAssignCommand.getNodes());//灏嗛伩璁╄矾寰勬坊鍔犺繘鑺傜偣璺緞涓�
- assignCommand.setNodes(nodes);
- navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹�
-
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
@@ -1177,26 +1157,6 @@
if (commands == null) {
continue;//鏈壘鍒拌矾寰�
}
- //鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿侊紝鐢ㄤ簬鍚庣画璁＄畻
- NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(liftSiteLocNo));
- navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿�
-
- //浠诲姟鎵ц瀹屽悗锛屽皬杞﹁繘鍏ョЩ寮�鎻愬崌鏈哄彛绔欑偣浣嶇疆锛屼互鍏嶅潬钀�
- //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
- int distLev = Utils.getLev(liftSiteLocNo);//閬胯妤煎眰
- String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);
- ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
- if (moveAssignCommand == null) {//璋冨害灏忚溅鍛戒护涓虹┖
- continue;
- }
- //鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿侊紝鐢ㄤ簬鍚庣画璁＄畻
- navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿�
- commands.addAll(moveAssignCommand.getCommands());//灏嗛伩璁╁皬杞︾殑鍛戒护娣诲姞
- List<NavigateNode> nodes = assignCommand.getNodes();//灏嗛伩璁╄矾寰勬坊鍔犺繘鑺傜偣璺緞涓�
- nodes.addAll(moveAssignCommand.getNodes());//灏嗛伩璁╄矾寰勬坊鍔犺繘鑺傜偣璺緞涓�
- assignCommand.setNodes(nodes);
- navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹�
-
//姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
@@ -1373,6 +1333,7 @@
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
+ ShuttleAssignCommand moveAssignCommand = null;//閬胯鍛戒护
if (wrkMast != null) {
switch (wrkMast.getWrkSts().intValue()) {
case 9://9.灏忚溅鍏ュ簱鎼繍涓� ==> 14.鍏ュ簱瀹屾垚
@@ -1385,6 +1346,15 @@
wrkMast.setWrkSts(23L);
break;
case 26://26.灏忚溅鍑哄簱鎼繍涓� ==> 27.灏忚溅鍑哄簱鎼繍瀹屾垚
+ //浠诲姟鎵ц瀹屽悗锛屽皬杞﹁繘鍏ョЩ寮�鎻愬崌鏈哄彛绔欑偣浣嶇疆锛屼互鍏嶅潬钀�
+ //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
+ int distLev = Utils.getLev(wrkMast.getSourceLocNo());//閬胯妤煎眰
+ String startLocNo = "180020" + distLev;
+ moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
+ if (moveAssignCommand == null) {//璋冨害灏忚溅鍛戒护涓虹┖
+ continue;
+ }
+
wrkMast.setWrkSts(27L);
break;
default:
@@ -1402,6 +1372,15 @@
//浠诲姟鎸囦护娓呴浂
shuttleProtocol.setAssignCommand(null);
News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
+
+ if (wrkMast.getWrkSts() == 27) {
+ if (moveAssignCommand != null) {
+ //涓嬪彂浠诲姟
+ shuttleProtocol.setPakMk(true);
+ MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));
+ }
+ }
+
} else {
News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
}
--
Gitblit v1.9.1